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squat_analysis.py

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+import pybullet as p
+import time
+import pybullet_data
+import math
+import matplotlib.pyplot as plt
+physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
+p.setGravity(0,0,-10)
+planeId = p.loadURDF("plane.urdf")
+startPos = [0,0,0]
+startOrientation = p.getQuaternionFromEuler([0,0,0])
+robotId = p.loadURDF("olympian.urdf",startPos, startOrientation, 
+                   # useMaximalCoordinates=1, ## New feature in Pybullet
+                   flags=p.URDF_USE_INERTIA_FROM_FILE)
+
+print("==========SIMULATION ENABLED================")
+
+#GET JOINT INFO
+
+print(p.getNumJoints(robotId))
+for i in range(0, p.getNumJoints(robotId)):
+    print(p.getJointInfo(robotId, i)[0:13])
+    
+listOfJointIndeces = []
+for i in range(0, p.getNumJoints(robotId)):
+    listOfJointIndeces.append(i)
+
+
+def calcCOM():
+    
+    #CALCULATE COM
+    masstimesxpossum = 0.0
+    masstimesypossum = 0.0
+    masstimeszpossum = 0.0
+    masssum = 0.0
+    for i in range(0, p.getNumJoints(robotId) -1):
+        
+        # if(i >= 0):
+        #     print(p.getJointInfo(robotId, i)[0:13])
+        
+        wheight = p.getDynamicsInfo(robotId, i)[0]
+        xpos = p.getLinkState(robotId, i)[0][0]
+        ypos = p.getLinkState(robotId, i)[0][1]
+        zpos = p.getLinkState(robotId, i)[0][2]
+        
+        masstimesxpossum += (wheight * xpos)
+        masstimesypossum += (wheight * ypos)
+        masstimeszpossum += (wheight * zpos)
+        masssum += wheight
+        
+        # print(wheight)
+        # print(xpos)
+        # print(ypos)
+        # print(zpos)
+        # print("\n")
+        p.stepSimulation()
+    com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
+    
+    print("mass: " + str(masssum))
+    print("center of mass: " + str(com))
+    print("\n")
+    return com
+
+newi = []
+
+torque = 50
+comPos = []
+comPos2 = []
+def squatDown():
+        
+    for i in range(0,30):
+        comPos.append(calcCOM())
+        newi.insert(0, i)
+        positionsList = [0] * 23
+        positionsList[11] = i/100 * 1 * math.pi #leg pitch 1
+        positionsList[17] = i/100 * -1 * math.pi #leg pitch 2
+    
+        positionsList[14] = i/50 * math.pi #leg knee 1
+        positionsList[20] = i/50 * -1  * math.pi #leg knee 2
+
+        positionsList[16] = i/100 * 1  * math.pi#foot pitch 1
+        positionsList[22] = i/100 * -1  * math.pi#foot pitch 2
+        
+        # positionsList[0] = math.pi / 4
+        forceArray = [torque]*23
+    
+        p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
+        p.stepSimulation()
+
+
+def squatUp():
+    for i in newi:
+        comPos2.append(calcCOM())
+        positionsList = [0] * 23
+        positionsList[11] = i/100 * 1 * math.pi #leg pitch 1
+        positionsList[17] = i/100 * -1 * math.pi #leg pitch 2
+    
+        positionsList[14] = i/50 * math.pi #leg knee 1
+        positionsList[20] = i/50 * -1  * math.pi #leg knee 2
+
+        positionsList[16] = i/100 * 1  * math.pi#foot pitch 1
+        positionsList[22] = i/100 * -1  * math.pi#foot pitch 2
+    
+        # positionsList[0] = math.pi / 4
+        forceArray = [torque]*23
+    
+        p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
+        p.stepSimulation()
+
+squatDown()
+squatUp()
+
+
+plt.plot(newi, comPos)
+for i in newi[:-1]:
+    newi[i] += 30
+plt.plot(newi, comPos2)
+plt.show()
+    
+# for i in range(0,1000000):
+#     p.stepSimulation()
+#     time.sleep(1./240.)
+